CN102047301A - Method for providing lane information and apparatus for executing the method - Google Patents
Method for providing lane information and apparatus for executing the method Download PDFInfo
- Publication number
- CN102047301A CN102047301A CN2008801294359A CN200880129435A CN102047301A CN 102047301 A CN102047301 A CN 102047301A CN 2008801294359 A CN2008801294359 A CN 2008801294359A CN 200880129435 A CN200880129435 A CN 200880129435A CN 102047301 A CN102047301 A CN 102047301A
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- Prior art keywords
- crossing
- point
- track
- lane information
- track navigation
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3629—Guidance using speech or audio output, e.g. text-to-speech
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3635—Guidance using 3D or perspective road maps
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3658—Lane guidance
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096855—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver
- G08G1/096872—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver where instructions are given per voice
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Multimedia (AREA)
Abstract
Provided are a method and apparatus for providing lane information, the apparatus including: a database to store and maintain, for each intersection point, a three-dimensional (3D) extension screen for displaying an actual lane and lane information corresponding to each lane; and a lane guide unit to verify an intersection point existing in a predetermined route and provide a lane guide screen where lane information of the intersection point is mapped on a corresponding 3D extension screen.
Description
Technical field
The present invention relates to a kind of system that is used to provide the route guidance service, more especially, relate to a kind of method that provides under steam about the road lane information of point of crossing, and a kind of equipment of carrying out this method.
Technical background
In general, navigation terminal is a kind of system that utilizes artificial satellite that information is provided for travelling of transportation equipment such as vehicle.This navigation terminal is also referred to as automated navigation system.
Navigation terminal can use GPS (GPS) receiver to receive data from the gps satellite around earth operation, comes according to its position of data computation of receiving.
Navigation terminal can provide various information, as based on the current location of the location information notification user automobile of navigation terminal, provide required destination from the current location to user traffic route, follow bus or train route line guiding user.
During the point of crossing that will pass through near the road, navigation terminal can make the user can change the track safely to the user notification lane information relevant with this point of crossing.The one-way road that described point of crossing can correspond to rare two tracks is connected on the inlet/outlet of highway or is connected to point on the one-way road that has three tracks at least.
But existing navigation terminal can use two dimension (2D) image to guide lane information to express the navigation of road track.The track navigation is closely related with actual driving road.Therefore, when using the 2D image to express road guide simply, might cause the user to obscure.
Point of crossing when in addition, most important area may be change track such as the user need use left-hands rotation, turns around, right-hand rotation in actual the driving.Yet, when using existing 2D image to provide the track to navigate, having only when the time very near the point of crossing, the lane information of road just can be verified.Arrive the point of crossing up to the user, existing navigation terminal just can guide the road lane information relevant with user's current location.
Summary of the invention
Technical purpose
One aspect of the present invention provides a kind of new method that is used to provide lane information, and this method can be more effectively and provided the road track to navigate practically.
Another aspect of the present invention also provides a kind of new method that is used to provide lane information, and this method can make the user can faster, more safely discern traveling lane, thus the road conditions in reply the place ahead.
Technical scheme
According to an aspect of the present invention, a kind of equipment that lane information is provided is provided, this equipment comprises: database, this database are stored for each point of crossing and maintenance is used to show three-dimensional (3D) the expansion picture in actual track and the lane information in corresponding each track; With the track navigation elements, this track navigation elements detects the point of crossing that exists on projected route, and provides the lane information of described point of crossing to be mapped to track navigation screen on the corresponding 3D expansion picture.
In this case, the track navigation elements can detect the approximate distance apart from the point of crossing, so that the track navigation screen to be provided at least one time according to described approximate distance.
In addition, the track navigation elements can comprise: position detection unit, this position detection unit detect current location and detect the point of crossing that exists within the predetermined setpoint distance based on current location; With the picture generation unit, during the point of crossing that exists within detecting described setpoint distance, the picture generation unit generates the track navigation screen about detected point of crossing.
In addition, during the point of crossing that exists within not detecting described setpoint distance, described picture generation unit can generate the route guidance picture that comprises the cartographic information that is used for navigation way.
In addition, the track navigation elements can further comprise: route detecting unit, this route detecting unit detect the target traveling lane in the track of described point of crossing.Described picture generation unit can generate with the track navigation screen of the form demonstration different with the lane information in other tracks corresponding to the lane information of target traveling lane.
In addition, the lane information of target traveling lane can be shown with the color different with the lane information in other tracks or with the form of glimmering.
In addition, described position detection unit can detect the approximate distance of the described point of crossing of distance with respect to the point of crossing that is present within the setpoint distance.Described picture generation unit can be contained in it from the distance navigation packets of information of the approximate distance of point of crossing being used for demonstration in real time, generates the track navigation screen.
According to another aspect of the present invention, provide a kind of method that lane information is provided, may further comprise the steps: for the storage of each point of crossing and safeguard and be used to show the 3D expansion picture in actual track and the lane information in corresponding each track; With detect the point of crossing that exists on the projected route, be mapped to track navigation screen on the corresponding 3D expansion picture with the lane information that described point of crossing is provided.
Technique effect
According to embodiments of the invention, can before entering the point of crossing, shift to an earlier date at point of crossing navigation lane information, with the minimizing chance of the traffic hazard that causes of changing trains, thereby provide a kind of safer information navigation.
In addition, according to the embodiment of the invention, the lane information of point of crossing can be provided with three-dimensional, and provide the traveling lane that will enter relevant lane information with the user with the form different with other tracks, thereby can improve the visibility of traveling lane by more authentic and valid track navigation, thereby help user's quick identification track.
Description of drawings
Fig. 1 is the block diagram of internal configurations that the equipment of the lane information that is used to provide road according to an embodiment of the invention is shown;
Fig. 2 is the process flow diagram that the method for the lane information that road is provided according to an embodiment of the invention is shown;
Fig. 3 illustrates and is used for the example that the road track navigation system of three-dimensional (3D) expansion picture is adopted in explanation according to an embodiment of the invention;
Fig. 4 illustrates the example that uses 3D expansion picture that the track navigation screen of lane information is provided according to an embodiment of the invention.
Embodiment
Embodiments of the present invention is described in detail for present general, and the example of described embodiment is shown in the drawings, and wherein identical reference number is represented identical element all the time.Embodiment is described below with reference to accompanying drawings, so that the present invention will be described.
Hereinafter, with reference to the accompanying drawings equipment that lane information is provided and method according to the embodiment of the invention are described.
The preset distance that the present invention was used for before the point of crossing provides the navigation of three-dimensional (3D) road track in advance.Particularly, a kind of method is provided, this method can use lane information and the actual lane position that the 3D extended view will be corresponding with every track of point of crossing to shine upon, but also can show the lane information relevant, thereby make the user can more safely change the track with the form different with other tracks with user's traveling lane.
The what is called of Shi Yonging " point of crossing " can be the object of road track navigation herein.The point of crossing can comprise feasible at least one inlet/outlet that can move to another road from current road.In addition, the point of crossing can be intersected so that can move to the point of other roads from current road corresponding to current road and at least one other roads.
For example, described point of crossing can be corresponding to the inlet/outlet of the one-way road that has two tracks at least and highway or the point that has at least the one-way road in three tracks to be connected.
Fig. 1 is the block diagram of internal configurations that the equipment of the lane information that is used to provide road according to an embodiment of the invention is shown.
Be used to provide the equipment of lane information applicable to the navigation terminal that comprises GPS (GPS) module.The GPS module can be calculated the position of oneself from gps satellite receiving position signal.
Lane information provides equipment can comprise database 140 and track navigation elements.
But the correlation map data and the route guidance data relevant of database 140 storage and maintenances whole nation map with map datum.Particularly, database 140 can be the storage of each point of crossing and safeguards the 3D expansion picture that is used to show actual track, and corresponding to the lane information in each track of the location association of point of crossing.3D expansion picture can be created as the 3D vector image in the actual track that current road track is relevant with the inlet/outlet of forming the point of crossing.
The track navigation elements can detect the point of crossing that exists on the projected route, then based on the information that is stored in the database 140, provides the track navigation screen relevant with this point of crossing.
The track navigation elements can comprise position detection unit 110, route calculation unit 120, picture generation unit 130, user interface 150, display unit 160, voice-output unit 170, control module 180.
Therefore position detection unit 110 comprises the GPS module, can receive data and based on the Data Detection current location that receives from gps satellite.In addition, position detection unit 110 can detect the position of the point of crossing that exists based on current location within setpoint distance, maybe can detect the approximate distance apart from the crossing.
But the predetermined voice navigation of voice-output unit 170 execution paths navigation.The voice-output unit 170 exportable voice signals that are used to guide near point of crossing and target traveling lane.
Hereinafter, will be to providing the method for lane information to be described in detail according to top configuration.
Fig. 2 is the process flow diagram that the method for the lane information that road is provided according to an embodiment of the invention is shown.
Lane information provides equipment to can be the storage of each point of crossing and safeguards the 3D expansion picture that shows actual track and lane information corresponding to each track relevant with the position of this point of crossing according to an embodiment of the invention.
In operation S201, between the point of crossing that exists on the traffic route, lane information provides equipment to detect the place ahead based on user's travel direction be positioned at point of crossing within the predetermined setpoint distance.
When in step S202, having detected the place ahead and being positioned at point of crossing within the predetermined setpoint distance, in step S203, lane information provides the lane information that equipment can be relevant with every track of detected point of crossing to shine upon with the corresponding lane position that 3D expands on the picture.
On the contrary, when not detecting the point of crossing in step S202, in step S204, lane information provides equipment to show to be used to follow the cartographic information that the bus or train route line carries out route guidance.
Fig. 3 illustrates the example that is used to illustrate the road track navigation system that adopts 3D expansion picture 301 according to an embodiment of the invention.As shown in Figure 3, the 3D expansion picture 301 that lane information provides device-readable to get the point of crossing, and about the lane information 302 in every track of point of crossing, and directly the lane information 302 in every corresponding track is mapped on each lane position of 3D expansion picture 301, make the track of point of crossing to be expressed as and be similar to actual track.In this case, lane information provides equipment lane information 302 and at least one point that 3D enlarges picture 301 can be shone upon.For example, lane information provides equipment showing lane information 302. on the 3D enlarged map 301 on two spaced-apart with preset distance different some A and B
In operation S205, lane information provides equipment to detect to be used for guiding the user to follow the target traveling lane that the bus or train route line enters the point of crossing, shows lane information corresponding to the target traveling lane with the display format different with the lane information in other tracks then.Lane information provides the color that equipment can be different with the lane information in other tracks or uses the flicker Presentation Function of animation to come the lane information of display-object traveling lane with the flicker form.
In step S203 and S205, lane information provides equipment the lane information in every track can be applied on the 3D expansion picture, thereby generates the track navigation screen at this point of crossing.
Fig. 4 illustrates the example that the track navigation screen of road track navigation is provided for the user about the point of crossing according to an embodiment of the invention.
When detecting the point of crossing that is positioned within the predetermined setpoint distance in the place ahead, lane information provides equipment to show the track navigation screen that is used for the navigation of road track by predetermined display unit.Lane information provides equipment to detect the point of crossing that the place ahead is positioned at setpoint distance based on user's current location.Next step, as shown in Figure 4, the time point when detecting the point of crossing, lane information provide equipment to expand on the picture 401 at 3D to show the track navigation screen that comprises lane information 402 and 405.In this case, in order to guide the travel direction in the point of crossing, lane information provides equipment can the form different with the lane information 402 in other tracks to show to enter feasible track, the just lane information 405 of target traveling lane 717 walked of travel direction.For example, when with the lane information 405 of flash animation form display-object traveling lane 404, the user is recognition objective traveling lane 404 rapidly.By the track navigation screen, lane information provides equipment to provide the road lane information in advance by the setpoint distance before reaching intersection, thereby makes the user can be in safer position change track.
Lane information provides equipment can regularly detect approximate distance apart from the point of crossing, and provides the track navigation screen at least one time according to this approximate distance.For example, lane information provides equipment to provide the track navigation screen for twice for the some place of about 300 meters and 150 meters in the approximate distance of distance point of crossing.
In addition, lane information provides equipment that the track navigation screen can regularly be provided, and arrives the respective quadrature crunode at setpoint distance place, the place ahead until mobile object.In this case, lane information provides equipment can detect approximate distance apart from the point of crossing, and shows the distance navigation information 403 of expression apart from the approximate distance of point of crossing on the navigation screen of track.But lane information provides the approximate distance of equipment service range navigation information 403 real-time range of a signal point of crossing, and makes the user can easily recognize the remaining distance of point of crossing thus.
According to embodiments of the invention, can be by the predetermined setpoint distance before the arrival point of crossing, the demonstration lane information is carried out the navigation of road track on the 3D expansion picture relevant with this point of crossing, and shows lane information safely practically thus.Particularly, can provide the navigation of road track in advance at the predetermined setpoint distance before the arrival point of crossing, and with the form demonstration traveling lane different with other tracks, thereby make the user can discern traveling lane rapider and effectively, and need be in flip-flop track, point of crossing.
Exemplary embodiment of the present invention comprises and comprises the computer-readable medium of being carried out the programmed instruction of various operations by computing machine.This medium also can comprise data file, data structure, table etc. independently or with programmed instruction in combination.Medium and programmed instruction can be purpose design of the present invention specially and create, or be by the known and available type of computer software technology personnel.The example of computer-readable medium comprises: magnetic medium, as hard disk, floppy disk and tape; Optical medium is as CD ROM CD; Magnet-optical medium is as photomagneto disk; With the hardware device of special configuration, as ROM (read-only memory) (ROM), random-access memory (ram) etc. for storage and execution of program instructions.The example of programmed instruction had both comprised machine code, as the machine code that is generated by compiler, also comprised and contained the file that can be used the more high-level code of interpretive routine execution by computing machine.Described hardware device can be configured to as one or more software module operations, and to carry out the operation of exemplary embodiment of the present invention recited above, vice versa.
Though some embodiments of the invention are demonstrated and describe, the present invention is not limited only to described embodiment.On the contrary, those skilled in the art should be understood that and can change embodiment that scope of the present invention is by claims and equivalent definition thereof under the situation that does not break away from principle of the present invention and spiritual scope.
Claims (14)
1. equipment that is used to provide lane information comprises:
Database, this database are stored for each point of crossing and maintenance is used to show three-dimensional (3D) the expansion picture in actual track and the lane information in corresponding each track; With
The track navigation elements, this track navigation elements detects the point of crossing that exists on projected route, and provides the lane information of described point of crossing to be mapped to track navigation screen on the corresponding 3D expansion picture.
2. equipment as claimed in claim 1, wherein, described track navigation elements detects the approximate distance of the described point of crossing of distance, to provide described track navigation screen at least once according to described approximate distance.
3. equipment as claimed in claim 1, wherein, described track navigation elements comprises:
Position detection unit, this position detection unit detect current location and detect the point of crossing that exists within the predetermined setpoint distance based on current location; With
The picture generation unit, during the point of crossing that exists within detecting described setpoint distance, this picture generation unit generates the track navigation screen about detected point of crossing.
4. equipment as claimed in claim 3, wherein, during the point of crossing that exists within not detecting described setpoint distance, described picture generation unit generates the route guidance picture that comprises the cartographic information that is used in reference to leading line.
5. equipment as claimed in claim 3, wherein:
Described track navigation elements further comprises:
Route detecting unit, this route detecting unit detect the target traveling lane in the middle of the track of described point of crossing, and
Described picture generation unit generates with the track navigation screen of the form demonstration different with the lane information in other tracks corresponding to the lane information of target traveling lane.
6. equipment as claimed in claim 3, wherein:
Described position detection unit is with respect to the approximate distance of the described point of crossing of cross point detection distance that exists within the setpoint distance; And
In the distance navigation information that described picture generation unit will be used for the approximate distance of real-time range of a signal point of crossing is included in, to generate the track navigation screen.
7. method that lane information is provided comprises:
For the storage of each point of crossing and safeguard and be used to show the 3D expansion picture in actual track and the lane information in corresponding each track; With
Detect the point of crossing that exists on the projected route, be mapped to track navigation screen on the corresponding 3D expansion picture with the lane information that described point of crossing is provided.
8. method as claimed in claim 7 further comprises:
When not detecting the point of crossing that exists in the route, provide the route guidance that comprises the cartographic information that is used in reference to leading line picture.
9. method as claimed in claim 7 wherein, provides the track navigation screen to comprise:
Detect the approximate distance of the described point of crossing of distance; With
According to described approximate distance, provide the track navigation screen at least once.
10. method as claimed in claim 7 wherein, provides the track navigation screen to comprise:
Based on current location, detect the point of crossing that exists within the setpoint distance; With
During the point of crossing that within detecting setpoint distance, exists, generate the track navigation screen about detected point of crossing.
11. method as claimed in claim 10, wherein:
Provide the track navigation screen further to comprise:
In the middle of the track of point of crossing, detect the target traveling lane; And
Provide the step of track navigation screen to generate with the lane information track navigation screen of the form demonstration different corresponding to the target traveling lane with the lane information in other tracks.
12. method as claimed in claim 11, wherein, the lane information of target traveling lane is shown with the color different with the lane information in other tracks or with the form of glimmering.
13. method as claimed in claim 10, wherein:
Provide the track navigation screen further to comprise:
With respect to the approximate distance of the cross point detection that exists within the setpoint distance from this point of crossing, and
In the distance navigation information that the step that generates the track navigation screen will be used for the approximate distance of real-time range of a signal point of crossing is included in, to generate the track navigation screen.
14. a storage is used for the computer readable recording medium storing program for performing that enforcement of rights requires the program of 7 to 13 any one described method.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2008-0027558 | 2008-03-25 | ||
| KR1020080027558A KR100874107B1 (en) | 2008-03-25 | 2008-03-25 | Method for providing lane information and apparatus for executing the method |
| PCT/KR2008/003787 WO2009119943A1 (en) | 2008-03-25 | 2008-06-29 | Method for providing lane information and apparatus for executing the method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102047301A true CN102047301A (en) | 2011-05-04 |
| CN102047301B CN102047301B (en) | 2014-04-02 |
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ID=40372639
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200880129435.9A Active CN102047301B (en) | 2008-03-25 | 2008-06-29 | Method for providing lane information and apparatus for executing the method |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US9269266B2 (en) |
| EP (1) | EP2272056B1 (en) |
| KR (1) | KR100874107B1 (en) |
| CN (1) | CN102047301B (en) |
| WO (1) | WO2009119943A1 (en) |
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| CN104724121A (en) * | 2013-12-24 | 2015-06-24 | 现代自动车株式会社 | Apparatus and method for recognizing driving field of vehicle |
| CN110836676A (en) * | 2012-10-17 | 2020-02-25 | 通腾导航技术股份有限公司 | Method and system for providing information using navigation device |
| CN112815958A (en) * | 2021-01-07 | 2021-05-18 | 腾讯科技（深圳）有限公司 | Navigation object display method, device, equipment and storage medium |
| CN113063418A (en) * | 2020-01-02 | 2021-07-02 | 三星电子株式会社 | Method and apparatus for displaying 3D augmented reality navigation information |
| CN113063418B (en) * | 2020-01-02 | 2024-05-24 | 三星电子株式会社 | Method and apparatus for displaying 3D augmented reality navigation information |
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| JP5966775B2 (en) * | 2012-08-31 | 2016-08-10 | アイシン・エィ・ダブリュ株式会社 | Intersection guidance system, method and program |
| JP2015049221A (en) * | 2013-09-04 | 2015-03-16 | アイシン・エィ・ダブリュ株式会社 | Route guide display system, method, and program |
| CN103471609B (en) * | 2013-09-24 | 2016-05-25 | 沈阳美行科技有限公司 | A kind of under no circuit planning the guide design method to information |
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- 2008-06-29 EP EP08778457.5A patent/EP2272056B1/en active Active
- 2008-06-29 US US12/933,984 patent/US9269266B2/en active Active
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| CN110836676A (en) * | 2012-10-17 | 2020-02-25 | 通腾导航技术股份有限公司 | Method and system for providing information using navigation device |
| CN104724121A (en) * | 2013-12-24 | 2015-06-24 | 现代自动车株式会社 | Apparatus and method for recognizing driving field of vehicle |
| CN104724121B (en) * | 2013-12-24 | 2018-10-16 | 现代自动车株式会社 | The device and method in the traveling field of vehicle for identification |
| CN113063418A (en) * | 2020-01-02 | 2021-07-02 | 三星电子株式会社 | Method and apparatus for displaying 3D augmented reality navigation information |
| CN113063418B (en) * | 2020-01-02 | 2024-05-24 | 三星电子株式会社 | Method and apparatus for displaying 3D augmented reality navigation information |
| CN112815958A (en) * | 2021-01-07 | 2021-05-18 | 腾讯科技（深圳）有限公司 | Navigation object display method, device, equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| US9269266B2 (en) | 2016-02-23 |
| EP2272056A1 (en) | 2011-01-12 |
| EP2272056B1 (en) | 2013-11-20 |
| CN102047301B (en) | 2014-04-02 |
| WO2009119943A1 (en) | 2009-10-01 |
| KR100874107B1 (en) | 2008-12-15 |
| US20110015859A1 (en) | 2011-01-20 |
| EP2272056A4 (en) | 2011-05-04 |
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